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Whats the difference between base_frame and base_link?

asked 2017-02-01 14:32:19 -0600

burf2000 gravatar image

updated 2017-02-01 15:40:37 -0600

So I am trying to map a model(urdf) to my hector slam project which seems to have base_frame. I don't have any base_link?

rosrun tf tf_echo /map /base_link

CFailure at 1485981006.541937303 Exception thrown:"base_link" passed to lookupTransform argument source_frame does not exist. The current list of frames is: Frame laser exists with parent base_frame. Frame base_frame exists with parent map. Frame scanmatcher_frame exists with parent map.

If I change my URDF from base_link to base_frame, I have less errors in RVIZ but the wheels are not connected to the robot?

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base_frame is a ROS parameter. base_link is a common value of the base_frame parameter.

spmaniato gravatar image spmaniato  ( 2017-02-01 15:05:57 -0600 )edit

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answered 2017-02-01 15:16:43 -0600

Kishore Kumar gravatar image

There is no difference, both of them are the parameters used too mention the base frame of the tf tree. In order to approach your scenario, change the base frame name in URDF to base_link else run the tf node as below

$rosrun tf tf_echo /map /base_frame
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If I update my URDF file to base_frame, my wheels are not attached

burf2000 gravatar image burf2000  ( 2017-02-01 15:42:03 -0600 )edit

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Asked: 2017-02-01 14:32:19 -0600

Seen: 1,375 times

Last updated: Feb 01 '17